RobotController¶
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class
wpilib.
RobotController
[source]¶ Bases:
object
Contains functions for roboRIO functionality.
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static
getBatteryVoltage
()[source]¶ Read the battery voltage.
Return type: float
Returns: The battery voltage in Volts.
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static
getCANStatus
()[source]¶ Get the current status of the CAN bus.
Returns: The status of the CAN bus as a tuple: “percentBusUtilization”, “busOffCount”, “txFullCount”, “receiveErrorCount”, “transmitErrorCount”
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static
getCurrent3V3
()[source]¶ Get the current output of the 3.3V rail.
Return type: float
Returns: The controller 3.3V rail output current value in Volts
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static
getCurrent5V
()[source]¶ Get the current output of the 5V rail.
Return type: float
Returns: The controller 5V rail output current value in Amps
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static
getCurrent6V
()[source]¶ Get the current output of the 6V rail.
Return type: float
Returns: The controller 6V rail output current value in Amps
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static
getEnabled3V3
()[source]¶ Get the enabled state of the 3.3V rail. The rail may be disabled due to a controller brownout, a short circuit on the rail, or controller over-voltage.
Return type: bool
Returns: The controller 3.3V rail enabled value
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static
getEnabled5V
()[source]¶ Get the enabled state of the 5V rail. The rail may be disabled due to a controller brownout, a short circuit on the rail, or controller over-voltage.
Return type: bool
Returns: The controller 5V rail enabled value
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static
getEnabled6V
()[source]¶ Get the enabled state of the 6V rail. The rail may be disabled due to a controller brownout, a short circuit on the rail, or controller over-voltage.
Return type: bool
Returns: The controller 6V rail enabled value
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static
getFPGARevision
()[source]¶ Return the FPGA Revision number. The format of the revision is 3 numbers. The 12 most significant bits are the Major Revision. the next 8 bits are the Minor Revision. The 12 least significant bits are the Build Number.
Return type: int
Returns: FPGA Revision number.
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static
getFPGATime
()[source]¶ Read the microsecond timer from the FPGA.
Return type: int
Returns: The current time in microseconds according to the FPGA.
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static
getFPGAVersion
()[source]¶ Return the FPGA Version number. For now, expect this to be the current year.
Return type: int
Returns: FPGA Version number.
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static
getFaultCount3V3
()[source]¶ Get the count of the total current faults on the 3.3V rail since the controller has booted.
Return type: int
Returns: The number of faults
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static
getFaultCount5V
()[source]¶ Get the count of the total current faults on the 5V rail since the controller has booted.
Return type: int
Returns: The number of faults
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static
getFaultCount6V
()[source]¶ Get the count of the total current faults on the 6V rail since the controller has booted.
Return type: int
Returns: The number of faults
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static
getInputCurrent
()[source]¶ Get the input current to the robot controller.
Return type: float
Returns: The controller input current value in Amps
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static
getInputVoltage
()[source]¶ Get the input voltage to the robot controller.
Return type: float
Returns: The controller input voltage value in Volts
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static
getUserButton
()[source]¶ Get the state of the “USER” button on the roboRIO.
Return type: bool
Returns: true if the button is currently pressed down
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static
getVoltage3V3
()[source]¶ Get the voltage of the 3.3V rail.
Return type: float
Returns: The controller 3.3V rail voltage value in Volts
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static
getVoltage5V
()[source]¶ Get the voltage of the 5V rail.
Return type: float
Returns: The controller 5V rail voltage value in Volts
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static
getVoltage6V
()[source]¶ Get the voltage of the 6V rail.
Return type: float
Returns: The controller 6V rail voltage value in Volts
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static